WO2006062948A3 - Interface for robot motion control - Google Patents

Interface for robot motion control Download PDF

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Publication number
WO2006062948A3
WO2006062948A3 PCT/US2005/044069 US2005044069W WO2006062948A3 WO 2006062948 A3 WO2006062948 A3 WO 2006062948A3 US 2005044069 W US2005044069 W US 2005044069W WO 2006062948 A3 WO2006062948 A3 WO 2006062948A3
Authority
WO
WIPO (PCT)
Prior art keywords
interface
command
client
driver modules
controller
Prior art date
Application number
PCT/US2005/044069
Other languages
French (fr)
Other versions
WO2006062948A2 (en
Inventor
Hector H Gonzalez-Banos
Victor Ng-Thow-Hing
Allen Y Yang
Original Assignee
Honda Motor Co Ltd
Univ Illinois
Hector H Gonzalez-Banos
Victor Ng-Thow-Hing
Allen Y Yang
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd, Univ Illinois, Hector H Gonzalez-Banos, Victor Ng-Thow-Hing, Allen Y Yang filed Critical Honda Motor Co Ltd
Publication of WO2006062948A2 publication Critical patent/WO2006062948A2/en
Publication of WO2006062948A3 publication Critical patent/WO2006062948A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33148—CLS client server architecture, client consumes, server provides services
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40147—Variable time delay, through internet

Abstract

Systems (100) and methods are presented that enable a higher-level software application to control a robot's motion through a generic motion interface. In one embodiment, a system includes a controller (110), an interface (120), and a set of robot driver modules (130). The interface (120) receives a command from the controller (110) and translates the command into another command to send to the driver modules. The interface (120) includes a client, a server, and a network. The server includes two interfaces a client interface to communicate with the client and a driver interface to communicate with the driver modules. The server also includes two buffers a command queue and a reply queue. The command queue stores commands received from the controller (110) (via the client). The reply queue stores replies received from the driver modules (130).
PCT/US2005/044069 2004-12-06 2005-12-06 Interface for robot motion control WO2006062948A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US63399804P 2004-12-06 2004-12-06
US60/633,998 2004-12-06

Publications (2)

Publication Number Publication Date
WO2006062948A2 WO2006062948A2 (en) 2006-06-15
WO2006062948A3 true WO2006062948A3 (en) 2007-02-01

Family

ID=36578479

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2005/044069 WO2006062948A2 (en) 2004-12-06 2005-12-06 Interface for robot motion control

Country Status (2)

Country Link
US (1) US8060251B2 (en)
WO (1) WO2006062948A2 (en)

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US9272418B1 (en) * 2014-09-02 2016-03-01 The Johns Hopkins University System and method for flexible human-machine collaboration
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Also Published As

Publication number Publication date
WO2006062948A2 (en) 2006-06-15
US20060161300A1 (en) 2006-07-20
US8060251B2 (en) 2011-11-15

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